THEORY OF MACHINES

Balancing

CHAPTER 12
Contents & Overview
CHAPTER 12 : BALANCING
• Introduction to Balancing

• Principle of d’Alembert

• Static Balancing

• Dynamic Balancing

CHAPTER OUTCOMES
At the end of this chapter, you should be able to conduct static and dynamic
balancing analysis
Introduction
• Most machines have rotating parts e.g.
fan blade, turbine, wheel, lathe machine
spindle.
• Rotating component typical has shaft
and other parts attached to it.
• These parts may be in varying sizes,
shapes, dimensions and mass.
• An imbalance could be developed,
which would lead to vibration and
shaking – causing problem.
Introduction

Consider this object L shaped link connected to a rotating

shaft with a constant velocity, 
Introduction

Because this object is not uniform, it will generate an

imbalance as the link rotates
Introduction

If we consider the CM of each leg of this link, and then try

replace the object with its equivalent mass …
Introduction

ω Overall
CM
m1

m1 m2
m2

Centre of
rotation

The overall center of mass of the link is located off the

center of rotation, causing it to rotate as the link rotates.
Which is a problem.
Introduction

ω CM of m1
and m2
m1

m1 m2
m2

To shift the CM to the center of rotation, we introduce a

balancing Mass, mb, and place it strategically to cause the
overall CM to shift to the center of rotation. When this
happens, we will achieve Static equilibrium; ∑F = 0
Introduction
ω

m1

m2

R2
R1 
1

2

We will get this system: a collection of equivelant masses:

- Mass 1, m1, located at radius R1, at angle 1, and …
- Mass 2, m2, located at radius R2, at angle 2
Static Balancing
Y Y

m1
m1
m2
m2

X Z
FRONT VIEW SIDE VIEW

In this example, it is assumed that the two masses are on

the same plane (XY), as you can see here.
This kind of balancing problem is referred to as:
Static Balancing or Single Plane Balancing
Static Balancing

Real life examples of objects that are in Static Balancing.

In all of these objects, all components lie on the same plane
because the rotating object is relatively thin
Dynamic Balancing
• Also known as two-plane balancing
• Applied to rotating objects that are relatively longer in the
axial direction compared to the radial direction
• Ex: Car tire, squirrel cage fan, turbine rotor
 BALANCING:
THE D’ALEMBERT PRINCIPLE
 The d’Alembert Principle

mP ω

R
an = Rω2

When a mass is being rotated with a constant , a

centeripetal (towards the center) acceleration is generated,
this is referred to as the Normal acceleration an = Rω2
 The d’Alembert Principle
Fc = mR2

mP ω

This accleration will cause a centrifugal (away from the center)

force, the D’ Alembert Inertial Force, Fc = mRω2
The d’Alembert Principle
ω

F 1 = m 1 R1  2
F2 = m 2 R2  2

m1
m2
R2
R1 
1

2

Returning to our example, when this system rotates, each

mass will cause an inertial centerfugal force, F1 and F2
The d’Alembert Principle
ω

F 1 = m 1 R1  2
F2 = m 2 R2  2

m1
m2
R2
R1 
1

2
What have been covered so far? ω
• Unbalance link
m1
• A collection of equivalent masses
• D’Alembert principle m2

• Static balancing (Next Part) R1 

R2
1

ω
2
ω
m m
1
2
F1 = m 1 R 1  2
F2 = m 2 R 2  2
Centre of
rotation
Overall m1
CM m2
m
R2
1 R1 
m 1

2
STATIC BALANCING
Static Balancing
ω

Returning to our example, here

is the unbalanced system. m1

m2
R1

R2
Static Balancing
ω
In order to balance the system,
a balancing mass is
m1
introduced:
m2

RB

mB
Static Balancing
m1R1ω2

Since the whole system will be

m2R2ω2
under rotation, D’Alembert m1
principle will be applied.
m2
R1
Then, using Equlibrium R2
equations, we can solve for the
unknown values.
RB

mB

mBRBω2
Static Balancing
m1R1ω2
F  0
m1 m2R2ω2
m1R1ω2  m2 R 2ω2  mB R B ω2  0
m2 m1R1  m2 R 2  mB R B  0
R1

R2
m1R1, x  m2 R2, x  mB RB , x  0 (1)

RB
m1R1, y  m2 R2, y  mB RB , y  0 (2)

mB 3 unknowns (mB, RB,x, RB,y),

but only 2 equations
mBRBω2
Static Balancing
Treat product of m and R as a single variable, called: the
Mass-Radius, with mBRB,x and mBRB,y as unknowns

mB RB , x  m1R1, x  m2 R2, x

mB RB , y  m1R1, y  m2 R2, y
RB
m B

mBRB,y
mB RB  (mB RB , x ) 2  (mB RB , y ) 2
θ
 mB RB , y 
θ  arctan  
 mBRB,x
 m B RB , x 
Static Balancing
ω
• θ indicates the angular
orientation of RB
• mBRB is the product of the
balancing mass mB and its
distance from the axis of
rotation RB θ

• To obtain RB, select a

RB
value for mB and solve for
RB (or vice versa) mB
• Better shown through a
numerical example
Quick example
m1R1ω2 m1R1, x  m2 R2, x  mB RB , x  0 (1)

m2R2ω2 m1R1, y  m2 R2, y  mB RB , y  0 (2)

m1
If given:
R1 = 0.4 m @ 23o
m2
R1 R2 = 0.62 m @ 114o

R2 How do find R1,x and R1,y?

R1,x = 0.4 cos 23 = ?
R1,y = 0.4 sin 23 = ?
RB
Assume that after calculation you obtain:
RB,x = - 0.25 m
mB y RB,y = - 0.63 m

RB,x 180 + ? How do find direction and2 magnitude of RB?

x Magnitude 𝑅 𝐵 =√ (− 0.25) +(−0.63)
2
mBRBω2
RB,y Direction 𝑡𝑎𝑛 𝜃 𝐵 = −0.63
−0.25
RB
EXAMPLE 1
STATIC BALANCING
Example 1
Find the balancing mass needed to balance this
system. ω

m1
• m1 = 1.2 kg
• m2 = 1.8 kg m2
R1
• R1 = 1.135 m @ 113.4°
R2
• R2 = 0.822 m @ 48.8°
•  = 40 rad/sec

Static balancing
for this case, we need to add another mass, m B
to find the mass mB, radius RB, and angle B
Solution

29
EXAMPLE 2
 List down the parameters in
table for easy reference
Example 2 Weight, Radius, Angle,
N mm degree
A rotating shaft with three arms has the
1 4.2 230 120
following parameters:
2 3.8 ? -120
W1 = 4.2 N, W2 = 3.8 N; 3 ? 210 20
R1 = 230mm, R3 = 210mm;
Sketch the “statically balanced
θ1 = 120°, θ2 = - 120° and θ3 = 20°
link” of the system
Find W3 and R2 in order to completely
W1=4.2
balance the system. W3=?
Static balancing
R1=230
for this case, we do not need to add R3=210
another mass, just use the existing
ones
Some of the parameters are missing
No diagram is given. It is highly R2=?
W2=3.8
recommended to sketch
Solution

32
 THEORY OF MACHINES

Balancing

Dynamic Balancing
with Example
Recap m1R1ω2
• Unbalance link
• D’Alembert principle m1 m2R2ω2

• Static balancing
m2
R1

R2
F  0
RB
m1R1ω  m2 R 2ω  mB R B ω  0
2 2 2

m1R1  m2 R 2  mB R B  0 mB

m1R1, x  m2 R2, x  mB RB , x  0 (1) mBRBω2

m1R1, y  m2 R2, y  mB RB , y  0 (2)
DYNAMIC BALANCING
Static Balancing
Y Y

m1
m1
m2
m2

X Z
FRONT VIEW SIDE VIEW

In this example, it is assumed that the two masses are on

the same plane (XY), as you can see here.
This kind of balancing problem is referred to as:
Static Balancing or Single Plane Balancing
Dynamic Balancing
Y Y

m1 Plane
m1
B
m2 m2

X Z
Plane
A
m3 m3
L1
L2
L3
LB
FRONT VIEW SIDE VIEW

In Dynamic balancing, Masses lie in different planes. As you

can see here. This kind of balancing is also referred to as:
Multiple Plane Balancing
Static vs. Dynamic Balancing
Y

X
m1
m2

m3

Here is another look, where individual masses lie in different

planes
Dynamic Balancing
• Also known as two-plane balancing
• Applied to rotating objects that are relatively longer in the
axial direction compared to the radial direction
• Ex: Car tire, squirrel cage fan, turbine rotor
Balancing: The Process
Since Imbalance is created due to imbalance of forces,
principles of equilibrium will utilized to shift the overall CM
to the center of rotation.

A balancing mass, mb will be added to the system so that

the total resultant force of the system becomes zero, i.e.
becomes balanced.

Then, your task, as desinger, is to figure out the value of

mb , its location, Rb, and its angle b that are needed for
balancing, both static and dynamic balancing (if needed).
Dynamic Balancing
• Requirements for dynamic balancing:
• Sum of all forces must be zero, ∑F = 0
• Sum of all moments must be zero, ∑M = 0

• Requires addition of balancing weights in 2 correction

planes separated by some distance along the shaft

• These correction planes are pre-determined (for example,

the rim of the tire)
Dynamic Balancing
Y Y
Plane
m1 m1 B
m2
m2
MB
X Z
Plane
A
MA m3
m3
L1
The unkowns are: L2
L3
- Mass-radius (mRa, and mRb)
- Their angles (a, and b) LB
 Dynamic Balancing
Y Y
Plane
m1 m1 B
m2
m2
MB
X Z
Plane
A
MA m3
m3
L1
Once again, we will use L2
Equiblirium equations, but this L3

time in two planes to solve for LB

the unknowns
 Dynamic Balancing
Y Y

m1 m1
m2 MB
m2
MB
X Z
Plane
A Plane
MA MA m3 B
m3
∑F = 0 L1
∑M = 0 L2
∑F = 0 L3

++++ LB

++++
++++
 Dynamic Balancing
Y Y

m1 m1
m2 MB
m2
MB
X Z
Plane
A Plane
MA MA m3 B
m3
∑F = 0 L1
∑M = 0 L2
∑M = 0 Choose Plane A as reference plane L3

++++ LB

+++
+++
Dynamic Balancing
Using equilibrium equations (for forces and moments), the
following equations can be developed, and we can solve for
the x and y components of the mass-radius for A and B.
m A RA, x  m1R1, x  m2 R2, x  m3 R3, x  mB RB , x
∑F = 0
m A RA, y   m1 R1, y  m2 R2, y  m3 R3, y  mB RB , y

LB is given
 m1R1, x L1  m2 R2, x L2  m3 R3, x L3
mB RB , x 
LB ∑M = 0
 m1R1, y L1  m2 R2, y L2  m3 R3, y L3
mB RB , y 
LB
Dynamic Balancing
Then, as before, the angle and the magnitude of the mass-
radiuses can be found.

m A R A  ( m A R A, x ) 2  ( m A R A, y ) 2 mB RB  (mB RB , x ) 2  (mB RB , y ) 2

 m A R A, y   mB RB , y 
θ A  arctan  
 θ B  arctan  

m R
 A A, x  m R
 B B,x 
Dynamic Balancing – Example
m1
mB • θA gives the angular
m2 orientation of RA
• mARA is the product of the
RB
balancing mass mA and
θB its distance from the axis
θA
of rotation RA
RA • To obtain RA, select a
value for mA and solve for
RA (or vice versa)
• The same thing applies to
mA θB and mBRB.
m3
EXAMPLE
Dynamic Balancing
 Dynamic Balancing – Example
Y Y

Plane B
m1 m1

m2 m2

X Z
Plane
A
m3 m3
L1
L2
m1 = 1.2 kg R1 = 1.135 m @ 113.4°
m2 = 1.8 kg R2 = 0.822 m @ 48.8° L3
m3 = 2.4 kg R3 = 1.04 m @ 251.4° LB

Find the mass-radius products and their

Angular locations need to dynamically balance L1 = 0.854 m L3 = 2.396 m
the system, using correction Plane A and B L2 = 1.701 m LB = 3.097 m
m1R1ω2
mBRBω m1R1ω2
2
mBRBω2
Y Y
m2R2ω2 m2R2ω2
mB
m1 m1
mB
m2 Plane m2
A

X Z

Plane
mA mA B
m3 m3
L1
mARAω2
L2
m3R3ω2
mARAω2 L3
m3R3ω 2
LB
Solution

55
End of Part 4
• Dynamic balancing
• General steps:
• Write down info in table
• Sketch the statically balanced system
• Identify two correction planes
• Add one mass on each plane
• Write down and solve Summation of
moment equation
• Write down and solve Summation of force
equations
• Difference between static & dynamic
balancing?
• Dynamic balancing requires 2 correction
planes
• Dynamic balancing has “Length”
SAMPLE PAST QUESTION
BALANCING
201819-2 Final Exam Question
Balancing
QUESTION 4 [20 MARKS] set A
A mini helicopter toy has crushed during landing caused one of the tail-rotor blades to break. The tail-rotor consists of
four rotating blades. The mass and position of each working blade are as given:
mA = 3 g; mC = 2.8 g; mD = 3.3 g;

RA = 0.58 mm; RC = 0.56 mm; RD = 0.67 mm;

θA = -78°; θC = 176°; θD = 96.2°

The broken blade is at angle of 13.8°, have remaining weight of W B is 0.013 N with remaining radius of 0.35 mm. You
are planning to repair the mini helicopter by yourself by attaching the additional balancing weight at the broken blade. In
order to have a completely balanced system, you are required to identify the followings:
a) The suitable additional length of the blade in m [7 marks]
b) Additional balancing weight needed in N [14 marks]
END OF CHAPTER 12
BALANCING
 BALANCING:
LINKAGES BALANCING
A Summary (self study)
Balancing Linkages
m3 B

m4
A CMt

m2
Linkage Global CM

O2
O4
• Mass of fourbar linkage is distributed in a single plane
(2D), hence we will employ static balancing
• Global CM of linkage will move as linkage moves
Balancing Linkages
m3 B

m4
A CMt

m2
Linkage Global CM

O2 mB
mA O4

• Try to force global CM of linkage, CMt to be stationary

• Do this by adding balancing weights, mA and mB, to links
2 and 4 (because they are in pure rotation)
Balancing Linkages (Summary)
mA RA x  m2b2 cos φ 2  m3l2  m3b3 l2 cos φ3
l3
l2
mA RA y  m2b2 sin φ 2  m3b3 sin φ 3
l3
l4
mB RB x  m3b3 cos φ 3  m4b4 cos φ 4
l3
l
mB RB y  m3b3 4 sin φ 3  m4b4 sin φ 4
l3

m A RA  m 2

A RA x   m A RA y 
2
mB RB  m 
B RB x   mB RB y
2

2

 m A RA y   mB RB y 
α  arctan   β  arctan  
m R
 A A x  m R
 B B x 
Balancing Linkages (Summary)

m3 B

L4
m4
A CMt
L2

m2 θ
2
θ
α β 4

O2 RB
RA mB
 BALANCING:
LINKAGES BALANCING
In Depth (Self Study)
Global CM of Linkage
m3 B

R3
m4
A CMt
Rt
m2
R4
R2
O2 mB
RA RB O4
mA

• Global CM of Links and weights

• Global: Vectors drawn relative to point O2
m2 R 2  m3 R 3  m4 R 4  m A R A  mB R B
Rt 
mt
Vectors Representing Link Lengths
m3 B

L3
L4
m4
A CMt
L2 θ
3
m2 θ
2
θ
4
L1
O2 mB
mA O4

• Link lengths: L1, L2, L3 and L4

• Magnitudes: l1, l2, l3 and l4 (constants)
• Angles: θ2, θ3 and θ4 (variables), θ1
(constant)
Vectors for Local CM of Links
m3 B
B3 L3
φ L4
m4
A 3 CMt
L2
B4
m2
φ
B2 φ
4
2 L1
O2 mB
mA O4

• Local CM of Links: B2, B3 and B4

• Magnitude: b2, b3 and b4 (constants)
• Angle: φ2, φ3 and φ4 (constants)
• Angles are measured relative to L vectors
Vectors for Local CM of Weights
m3 B

L3
L4
m4
A CMt
L2

m2

α L1
O2 BB
BA mB
mA O4
β
• Local CM of weights: BA and BB
• Magnitude: RA and RB (constants)
• Angle: α and β (constants)
• Angles are measured relative to L vectors
Expression for R2
m3 B

m4
A CMt
L2

m2 θ

R2 φ 2

2
O2 mB
mA O4

m2 R 2  m3 R 3  m4 R 4  m A R A  mB R B
Rt 
mt
• Magnitude of R2: b2 R 2  b2 e j ( θ 2  φ 2 )  b2 e jθ 2 e jφ 2
• Angle of R2: θ2 + φ2 θ2 is the only variable
Expression for RA
m3 B

m4
A CMt
L2

m2 θ
2

α
O2 mB
RA O4
mA

• Magnitude of RA: RA R A  R A e j ( θ 2  α )  R A e jθ 2 e jα
• Angle of RA: θ2 + α θ2 is the only variable
Expression for R3
m3 B
B3 L3
R3
φ
m4
A 3 CMt
L2 θ
3
m2 θ
2

O2 mB
mA O4

R 3  L 2  B3
L 2  l 2 e jθ 2 B 3  b3e j ( θ3  φ3 )
R 3  l2 e jθ 2  b3e j ( θ3  φ3 )  l2 e jθ 2  b3e jθ3 e jφ3
θ2 and θ3 are the only variables
Expression for R4
m3 B

L4
m4
CMt
B4
m2
R4 φ θ
4 4
L1
O2 mB
mA O4

R 4  L1  B 4
L1  l1e jθ1 B 4  b4 e j ( θ 4  φ 4 )
R 4  l1e jθ1  b4 e j ( θ 4  φ 4 )  l1e jθ1  b4 e jθ 4 e jφ 4
θ4 is the only variable
Expression for RB
m3 B

L4
m4
CMt

m2
θ
4
L1
O2 BB
RB mB
mA O4
β
R B  L1  B B
L1  l1e jθ1 B B  RB e j ( θ 4 β )
R B  l1e jθ1  RB e j ( θ 4 β )  l1e jθ1  RB e jθ 4 e jβ
θ4 is the only variable
Expansion of Linkage CM equation
m A R A  mB R B  m2 R 2  m3 R 3  m4 R 4
Rt 
mt
mt R t  m A R A  mB R B  m2 R 2  m3 R 3  m4 R 4

R A  R A e j ( θ 2  α )  R A e jθ 2 e jα
R B  l1e jθ1  RB e j ( θ 4 β )  l1e jθ1  RB e jθ 4 e jβ
R 2  b2 e j ( θ 2  φ 2 )  b2 e jθ 2 e jφ 2
R 3  l2 e jθ 2  b3e j ( θ3  φ3 )  l2 e jθ 2  b3e jθ3 e jφ3
R 4  l1e jθ1  b4 e j ( θ 4  φ 4 )  l1e jθ1  b4 e jθ 4 e jφ 4
mt R t  m A R A e jθ 2 e jα  m B l1e jθ1  m B R B e jθ 4 e jβ  m2 b2 e jθ 2 e jφ 2 
m3 l 2 e jθ 2  m3b3 e jθ3 e jφ3  m4 l1e jθ1  m4 b4 e jθ 4 e jφ 4

Variables: θ2, θ3 and θ4

Vector Loop Equation
m3 B

L3
L4
m4
A CMt
L2 θ
3
m2 θ
2
θ
4
L1
O2 mB
mA O4

Vector loop: L2 + L3 – L4 – L1 = 0
l2 e jθ 2  l3e jθ3  l4 e jθ 4  l1e jθ1  0
l1e jθ1  l4 e jθ 4  l2 e jθ 2 (use this equation to
e jθ 3 
l3 eliminate one variable)
 mt R t  m A RAe jθ 2 e jα  mB l1e jθ1  mB RB e jθ 4 e jβ  m2b2 e jθ 2 e jφ 2 
m3l2 e jθ 2  m3b3e jθ3 e jφ3  m4l1e jθ1  m4b4 e jθ 4 e jφ 4 (1)
l1e jθ1  l4 e jθ 4  l2 e jθ 2
e jθ 3
 (2) (2) into (1)
l3
mt R t  m A R A e jθ 2 e jα  m B l1e jθ1  m B R B e jθ 4 e jβ  m 2 b2 e jθ 2 e jφ 2  m3 l 2 e jθ 2 
l1 jφ3 jθ1 l l
m3 b3 e e  m3 b3 4 e jφ3 e jθ 4  m3 b3 2 e jφ3 e jθ 2  m 4 l1e jθ1  m 4 b4 e jθ 4 e jφ 4
l3 l3 l3
• Variables: θ2 and θ4
• Factor out ejθ2 and ejθ4
 l 2 jφ 3 
mt R t  e jθ 2
 m A R A e  m2 b2 e  m3 l 2  m3 b3 e  
jα jφ 2

 l3 
 l 
Variables e jθ 4  m B R B e jβ  m3b3 4 e jφ3  m4 b4 e jφ 4   Eliminate
 l3  variables by
 l1 jφ3 jθ1 jθ1 
setting these to
 m B l1e  m3 b3 e e  m4 l1e 
jθ1
zero
 l3 
 l 2 jφ 3
m A RAe  m2b2 e
jα jφ 2
 m3l2  m3b3 e  0
l3
l 4 jφ 3
mB RB e  m3b3 e  m4b4 e jφ 4  0
jβ

l3
• We are looking for the mass and location for the
balancing weights
l 2 jφ 3
m A RAe   m2b2 e  m3l2  m3b3 e
jα jφ 2
(3)
l3
l 4 jφ 3
mB RB e  m3b3 e  m4b4 e jφ 4
jβ
(4)
l3
• Equations (3) and (4) are vector equations
• Separate each equation into their x- and y-
components by:
– Expanding using Euler’s Identity
– Separating real and imaginary components
mA RA x  m2b2 cos φ 2  m3l2  m3b3 l2 cos φ3
l3

mA RA y  m2b2 sin φ 2  m3b3 l2 sin φ3

l3

mB RB x  m3b3 l4 cos φ3  m4b4 cos φ 4

l3
l4
mB RB y  m3b3 sin φ 3  m4b4 sin φ 4
l3

m A RA  m 2

A RA x   m A RA y 
2
mB RB  m 
B RB x   mB RB y
2

2

 m A RA y   mB RB y 
α  arctan   β  arctan  
m R
 A A x  m R
 B B x 
Location and mass of balancing weights
m3 B

L4
m4
A CMt
L2

m2 θ
2
θ
α β 4

O2 RB
RA mB
mA O4

• α and β gives orientation of RA and RB relative L2 and

L4 respectively
• Any combination of mA and RA are acceptable so long
as their product is equal to mARA (same with mBRB)
 82

END OF CHAPTER